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A discussion on simulation tools to aid the development of robotics platforms is presented. The focus of the work is towards mining robotics platforms where operations are typically in unstructured, unpredictable environments and a high degree of dependability in their operations is required. It is argued that a test-based development approach leads to more robust solutions and faster development cycles than traditional single-track field-only development and that the key enabling technology for this development paradigm is the judicious use of simulation tools. The future direction of simulation for use in online applications such as active planning and as a means to assist tele-operation in high latency communication applications is also brief y considered together with the requirements for a useful simulation environment in terms of the simulator architecture. Finally, a case study is presented on the application of the discussed methodologies to an unmanned ground vehicle (UGV) for earth-moving tasks, which is being developed in an accelerated time frame with a transient development team.

Dec 6, 2010

No one process, product or effect of the minerals sector can be viewed in isolation when addressing sustainable development. Meaningful assessments of the minerals sector require that its processes and production are drawn together in a generic framework that gives a holistic view of its performance and progress. Lifecycle Assessment is increasingly accepted as an appropriate means of constructing such a framework. It is a step beyond using the simplistic concept of the triple bottom line of social, environmental and economic performance to drive and communicate sustainable development. However, fundamental questions need to be raised about the scope and purpose of lifecycle assessment, such as what effects and performances should be assessed, for whom should they be assessed, and what performance indicators should be used and how should they be selected. The principles of eco-efficiency, industrial ecology, The Natural Step (TNS) and other pertinent philosophies and initiatives driving mineral sector sustainable development are outlined to support a lifecycle stewardship vision for the minerals sector. Articulating this vision through a holistic lifecycle indicator system showing inputs and outputs, natural partnerships, effects on community, environment and economy facilitates recognition of problems, opportunities and partnerships that can be usefully pursued.

Jan 1, 2002

By F. A. Jones

Increased mechanization .of coal mines has emphasized the need for study of actual power requirements of the various machines employed in the production of coal and losses in the distribution of power to these machines. These studies are being made in order that hazards, excessive use of power, and high maintenance cost of equipment resulting from these losses may be analyzed and eliminated where possible. Research on the use of electric power in-coal mines was suggested by the Advisory Committee of the Bureau of Mines in 1937, and it was decided to begin with a study of individual machines of various types under operating conditions in modern coal mines. The transmission of power, particularly line losses and inadequate return circuits, should be a part of the investigation. This report presents some of the data of an initial study in commercial mines. ACKNOWLEDGMENTS The superintendents, engineers, and other officials of the two mines studied cooperated fully and aided in setting up and transporting the test equipment, giving such information as was requested.

Jan 1, 1942

By R. P. Sloan, A. S. Whitford

In November 1999, CCI's Empire Iron Mining Partnership and MinnovEX Technologies Inc. developed an expert system for advanced control of their Empire IV Grinding Section. Empire IV is comprised of three autogenous Primary Mills and six autogenous Pebble Mills, with a single Pebble Crusher and high pressure Roll Press. The challenges of controlling and optimizing three distinct grinding lines that are inter-woven by a pebble crushing circuit were met with innovative and unique solutions. This paper will detail the approach employed at Empire and will focus on the aspects that make this application unique.

Jan 1, 2001

By M. Mankosa, G. Taylor, G. Luttrell, J. Yasalonis

Several industrial-scale HydroFloat separators have recently been installed at Mosaic’s South Fort Meade beneficiation plant for the purpose of improving phosphate recovery and throughput capacity. This technology was implemented after numerous laboratory, bench-scale, and on-site, pilot-scale test campaigns. The results from this detailed test work provided sufficient justification for the complete retrofit of the existing coarse and ultra-coarse flotation cells. Data indicate that the metallurgical results obtained with the full-scale separators are consistent with that obtained during both the bench- and pilot-scale evaluations. The apparent benefits, theory of operation, and commissioning of the equipment are also discussed.

Jan 1, 2007

Ventilation network modeling in mine planning dates back at least three decades, but it is not widely accepted and/or practiced until the last decade, thanks to the advent of modern computers with their increase d speed and storage space. There are at least half a dozen such modeling software packages available on the market each with different features and acceptance. This paper compares five popular software packages,?? VnetPC Pro, MineVent, VentSIM Visual, VentGraph and MFIRE 3.0. A case study using Missouri S&T?s Experimental Mine is conducted to compare the five software packages in features, interface, output display and user-friendliness.

Jan 1, 2012

By Luis Valle, Fredy Zegarra, Ernesto Vizcardo

El uso de los procesos estocásticos y cadenas de Markov se ha desarrollado solo para estudios de probabilidades en la rama de las ciencias matemáticas y como una opción a las descripciones tradicionales en el campo del procesamiento de minerales, se realizó una comparación entre ambas metodologías para lo cual se cuenta previamente con varios análisis granulométrico proveniente de los molinos de Bolas industriales de la empresa Shougang Perú y pruebas granulometrías de Molienda de Sider-Perú, comparar en ambos estudios, como el probabilístico (Cadenas de Markov) y el cinético (Selección y fractura) ofrecen un buen acercamiento al resultado experimental, dando como una buena alternativa el primero por su uso del manejo estocástico.

Sep 1, 2017

By Thomas M. Keevin, Gregory L. Hempen

"Natural resource agencies, under various regulatory authorities, are challenged with permitting underwater explosive use while at the same time protecting aquatic resources. Deciding on whether or not to allow use of explosives requires striking a balance between development and aquatic resource protection. A company’s goal in underwater explosive use is to select methods that are both expedient and cost effective. The use of explosives is often the best alternative for engineering reasons or economic considerations. Over and above legal requirements, indiscriminate destructionof fish and other aquatic resources is not in a company’s best interests because of concerns relatingto public image, as well as the need to secure future contracts."

Jan 1, 1995

By Matthew I. G

A new process for leaching zinc sulphide concentrates with gaseous mixtures of SO2 and O2 in aqueous solution is described.The reaction of SO2/O2 with Rosebery, Mt. Isa, Broken Hill and Elura zinc concentrates yields zinc and iron sulphates, elemental sulphur and some sulphuric acid. Rates of zinc extraction are controlled by a surface chemical reaction without apparent interference from the elemental sulphur layer for SO2 concentrations up to 9 per cent in the gas phase. Pyrite in concentrate exerts an activating effect, possibly through galvanic interaction with the sphalerite. Metal extractions are dependent on SO2 and O2 tenors of the gas, particle size, and the acidity and zinc content of the solution, but are independent of the ferric ion level. Extractions also reach maxima at about 85°C.Generation of acid may be prevented by conducting the reaction in the presence of ferrous iron and at acidities of 40 g/l or greater. Zinc and iron levels in Elura lead concentrate may be reduced by leaching with SO2/O2.

Jan 1, 1981

By R. P. Singh

A mine fire model gallery has been designed and constructed on the premises of the Central Mining Research Institute, Dhanbad, India to perform systematic in-depth studies on various aspects of mine fires. The gallery is 65.5 m long and 5.86 m2in cross-section and it is divided into firing and non-firing zones. It is equipped with a computer-aided online telemonitoring system that has 130 sensors, two data loggers and computer peripherals for continuous recording of various fire parameters. A fan to generate airflow through the gallery has been installed at its end. Two sliding doors and one rolling shutter were also provided for sealing and regulation of airflow. Two sets of experiments have been carried out in the model gallery maintaining air velocity of 1 and 1.5 m/s through it. In the experiments, the inner sides of the firing zone, 22 m in length, were lined with a thin layer (8?10 cm thick) of coal slabs. Two fire suppression techniques viz. flushing of liquid nitrogen (LN2) and infusion of high pressure high stability (HPHS) nitrogen foam were tried to quantify their effectiveness under dynamic fire conditions. The paper addresses important design features of the gallery, its instrumentation system, the experimental procedure adopted and important findings from the experiments. It has been observed that the intensity of the fire was very high after one hour of its initiation and continued for 3?4 hours. During the period, frequent backlash with smoke and flame was noticed. The efficacy of the fire suppression techniques has been assessed interms of reduction in temperature, generation rate of CO2and CO, and heat release rate. The study reveals that high pressure high stability (HPHS) nitrogen foam is more effective in controlling open fires than liquid nitrogen is. Keywords: Model gallery, telemonitoring system, velocity, temperature, pressure, gas concentration, intensity, liquid nitrogen, high pressure high stability nitrogen foam.

Jan 1, 2004

By H. K. Taylor, B. Denby, L. D. Smith

Contributions by H.K. Taylor and G.A. Davis discuss the three papers published in Transactions IMM A, vols. 103 and 104, with responses by Smith and Dowd

Dec 1, 1995

Block caving is an underground mining method for the profitable extraction of massive, low-grade orebodies. Lately, it has become the mining method of choice, for many mining companies, because of depleted high-grade orebodies, and declining metal market prices. Block cave mining, however, still faces several challenges. Lack of access to the cave remains a major issue in understanding the rockmass response to mining for method optimisation. Improving our understanding of the rockmass response to caving will lead to safer and more productive operations. Combining large datasets from multiple sources with virtual reality scientific visualisation (VRSV) is a viable alternative to understanding complex cave behaviour without access to the cave. This is achieved using immersive environments with the ability to view complex multi-dimensional data (beyond 3D) graphically. VRSV offers a unique platform where it becomes possible to immerse the multi-disciplinary experts, and/or management team, in a virtual mine environment for quick decision making and fast resolution to conflicting conclusions. The underground mining system is complex due to multiple interrelating factors such as geology, excavation geometries, stress and time. Block caving is even more complex than most underground mining methods due to the network of tunnels required, and the use of induced stress, among others. As a consequence of the complexity in the block caving environment, it is vital that the mining system is analysed holistically, as a system, rather than optimizing individual factors one at a time. This paper presents a customised software module developed for use in the Advanced Visualisation Interactive Environment (AVIE) at The University of New South Wales (UNSW), Australia, to enable VRSV investigation into block cave mining systems (BCMS). This approach has the potential to provide a better understanding of the effect of time in in rock engineering, which has proven to be an important factor in hard rock mines (Ma & Daemen, 2006; Malan et al., 1997; Suorineni, 2010) but never validated. This work back analyses the early undercutting phase of a case study block caving operation with the view to understanding time/sequence effects. There is evidence that heterogeneous rockmass time-dependent behaviour governs the seismic response of the rockmass following undercut developments.

Jan 1, 2015

By Alain Bouchard, Germain Labonté, Jim Barrett

"Mill feed materials that are not run-of-mine ore are often a challenge for mineral processors and tend to accumulate in stockpiles, where they remain unprocessed for many years and become “slow moving inventories”. During a complete re-evaluation of the Clarabelle Mill operation (38,000 ton/day capacity) in 2000, it was concluded that there was an opportunity to assemble a 5,000 ton/day custom circuit to treat such stockpiles in the equipment that remained available during regularly scheduled maintenance shut-downs.This project was part of the larger Mill Redesign Project and involved testing the intended flowsheet under a number of operating scenarios for the first material to be treated: spent refractory bricks. The laboratory focus was on how to maximize returns using the available equipment and reagents.The circuit was successfully commissioned in the fall of 2000. As the brick stockpile was depleted, other potential feeds were evaluated at the laboratory, as well as in the new custom circuit itself. Processing of the spent refractory brick has yielded a significant contribution to the profitability of INCO. Significant opportunities lie ahead for generating more value from other slow moving inventories.INTRODUCTIONIntegrated mining operations tend to have slow moving inventories along the path from the mines to the finished products. Spent refractory bricks from furnaces and converters and furnace bottoms are materials that often end up in long-tern stockpiles. Such stockpiles are a challenge, although they represent small tonnages on an annual basis, because they are unique materials, which cannot be readily brought into the process at a rate anywhere near that at which they are produced, due to the high contents of deleterious components such as chromite or magnesia. Accumulation over years will eventually yield a metal inventory worthy of consideration given the right opportunity, such as availability of spare equipment or peak metal prices."

Jan 1, 2002

By T. O. Hagan

A simulated rockburst experiment was conducted underground at a deep level gold mine. This was done by means of a large explosion detonated in solid rock close to a tunnel sidewall. The resultant shake-out damage is typical of that associated with a small seismic event in close proximity to a tunnel that is subjected to the estimated field stress, as in this case, of 50 MPa. The experiment involved: ?the design of a blast to mimic a seismic source ?seismic monitoring using a dense seismic array ?high speed video filming ?a study of rock mass conditions (fractures, joints, rock strength etc.) before and after the simulation using mapping and ground penetrating radar ?special investigations to evaluate the mechanism and the magnitude of the damage ?a study of support behaviour under excessive dynamic loading.

Jan 1, 2001

By L. Nahai

Iran's petroleum industry is nearly 50 years old and the oldest in the Near East. According to published figures, Iran ranks third in production and reserves in the Near East. These reserves (including probable reserves) are estimated at 35 billion barrels and constitute about 11 percent of the world's total. Iran is the sixth largest producer of crude petroleum in the world. The 1961 output of more than 430 million barrels was 5 percent of total world output for the year. In the same year, Iran ranked fourth among world petroleum exporters, providing 8.4 percent of total world exports.

Jan 1, 1963

Rutile – Zircon Mining on East Coast Surfing Beaches – Rutile-Zirconium Producing Companies in Australia

Jan 10, 1964

By Zhuofei Yang, Jidong Kang, David S. Wilkinson

The fatigue behavior of AM60 high pressure die casting magnesium alloys was studied in a straincontrolled manner. The fatigue test was interrupted every 2,000 cycles for X-ray tomography scanning. The specimen was removed to be scanned on a desktop micro-CT system. The value of using X-ray tomography in a fatigue properties study was assessed with respect to porosity, cracks and fracture surfaces. The 3D analysis and model results showed porosity could be well measured and modelled in 3D. Defects bands are made of pores under 50 µm in volume-equivalent sphere diameter. Larger pores are randomly distributed in the region between two defect bands. Observation of cracks by X-ray tomography occurs in three ways such that the 3D model gives the best illustration of crack-porosity interaction while the other two methods have better detectability on crack initiation and crack tip observation. X-ray tomography is also of value in failure analysis on fracture surfaces. By summarizing X-ray tomography data during fatigue testing and observing fracture surfaces on a 3D model, a better understanding on the crack initiation, crack-porosity interaction and the morphology of fracture surface is achieved.

Jan 1, 2014

By Stephen L. Chryssoulis

"""Preg-robbing"" of gold by carbonaceous matter during the cyanidation of certain types of carbonaceous gold ores is well documented. Recent studies established that ""preg-robbing"" of gold is not limited to carbonaceous matter. Gold sorbed on the surface of pyrite grains was detected and quantified by TOF-LIMS (Time of Flight Laser Ionization Mass Spectrometry). Crystallites of pyrite from a number of ores from different geological environments have been shown to have gold on their surface apparently sorbed from the ore forming solutions. Surface gold accounts for significant fractions of the gold head assay. Preg-robbing of gold by pyrite from pregnant cyanide solutions was also documented, and accounts for significant losses to tailings. Preventative measures are discussed.1.0 IntroductionThe detection and subsequent quantification of gold sorbed on the surface of pyrite particulates came about during routine determinations of the deportment of gold employing the comprehensive mineralogical approach (Chryssoulis and Cabri, 1990). In some pyritic gold ores it was discovered that the sum of the various forms in which gold ""conventionally"" occurs, was short of the gold assay. The mineralogical procedure used involves the independent determination of each fraction of gold, in other words there is no form of gold which is calculated ""by difference"". The systematic shortfall after having added the forms of gold listed in Table 1 led to the inquiry for the 'missing' gold and its discovery on the surface of pyrite grains, such as crystal facets and fractured surfaces.Preg-robbing of gold by pyrite from pregnant solutions was first described by Lloyd. In his studies, preg-robbing was measured by changes in the solutions/solids gold assays. This paper describes the first application of a direct measurement method for surface gold on pyrite particles from untreated and processed samples, its impact on gold deportment and processing. The advantage of the direct measurement lies in the absence of interference from other forms of gold, leading to more accurate and precise determinations of this unconventional form of gold."

Jan 1, 1997

By S. Ndlovu, M. Malatse

"The Witwatersrand Basin is the heart of South Africa’a gold mining industry. The cluster of gold mines located in the Witwatersrand Basin generates a significant amount of mine tailings, which have adverse effects on the environment and ecological systems. In addition, disposal costs are very high. The exponential population growth in the Witwatersrand area has resulted in pressure on the reserves of traditional building materials. Quarrying for natural construction material is very expensive and damages the landscape. This work therefore examines the use of gold mine tailings in the production of bricks.Different mixing ratios of gold tailings, cement, and water were used. The resulting bricks were then cured in three different environments - sun dried, oven dried at 360°C, and cured in water for 24 hours. The bricks were then tested for unconfined compressive strength, water absorption, and weight loss. The results showed that the mixture with more cement than tailings had a compressive strength of approximately 530 kN/m2. It was also found that the best brick curing system was in a water environment. Bricks made from tailings cost more than conventional bricks because of the higher quantity of cement used, but the manufacturing process consumes less water. Overall, the results indicated that gold mine tailings have a high potential to substitute for the natural materials currently used in brickmaking.Paper written on project work carried out in partial fulfilment of BSc. Eng. (Metallurgyand Materials Sciences)"

Jan 1, 2015

The individual or company director who ignores his or her obligations under the Resource Management Act 1991 and under the proposed hazardous substances legislation, ignores them at their peril. Two recent cases in Canada and the United Kingdom concerning environmental offences under similar legislation illustrate the risks well.

Jan 1, 1993